目 錄
第1 章 緒論 ·································································································.1
1.1 計算機視覺 ························································································.2
1.1.1 計算機視覺的概念 ······································································.2
1.1.2 計算機視覺的發(fā)展 ······································································.2
1.1.3 計算機視覺的應用 ······································································.3
1.1.4 計算機視覺研究面臨的問題 ··························································.4
1.2 相關學科介紹 ·····················································································.5
1.2.1 圖像處理 ··················································································.5
1.2.2 計算機圖形學 ············································································.6
1.2.3 模式識別 ··················································································.6
1.2.4 人工智能 ··················································································.6
1.2.5 人工神經(jīng)網(wǎng)絡 ············································································.7
1.3 視覺測量技術 ·····················································································.7
1.3.1 視覺測量技術分類 ······································································.7
1.3.2 視覺測量系統(tǒng)的組成 ···································································.7
1.3.3 視覺測量的流程 ·········································································.8
1.4 視覺測量技術特點及應用 ······································································.9
思考與練習 ····························································································.11
第2 章 光學基礎與人眼視覺 ··········································································.12
2.1 電磁波譜 ·························································································.12
2.2 輻射度量與光度量 ·············································································.14
2.2.1 輻射度量 ················································································.14
2.2.2 光度量 ···················································································.16
2.2.3 輻射度量與光度量之間的關系 ·····················································.16
2.3 色度學基礎與顏色模型 ·······································································.17
2.3.1 色度學的基本概念 ····································································.17
2.3.2 三基色原理 ·············································································.18
2.3.3 顏色模型 ················································································.19
2.4 光學成像基本原理 ·············································································.24
2.5 人眼的生理構造及功能 ·······································································.25
2.6 人眼的視覺過程 ················································································.27
2.6.1 光學過程 ················································································.27
2.6.2 化學過程 ················································································.28
2.6.3 神經(jīng)處理過程 ··········································································.30
2.7 人眼視覺特性 ···················································································.31
2.7.1 視覺的空間特性 ·······································································.31
2.7.2 視覺的時間特性 ·······································································.32
2.7.3 視覺的心理物理學特性 ······························································.35
思考與練習 ····························································································.39
第3 章 視覺測量硬件系統(tǒng) ·············································································.40
3.1 光源照明系統(tǒng) ···················································································.41
3.1.1 光源照明系統(tǒng)的設計要求 ···························································.41
3.1.2 光源的基本性能參數(shù) ·································································.41
3.1.3 照明光源類型及照明方式 ···························································.43
3.2 鏡頭 ·······························································································.45
3.2.1 鏡頭的分類 ·············································································.45
3.2.2 視場 ······················································································.46
3.2.3 光學倍率和數(shù)值孔徑 ·································································.47
3.2.4 景深 ······················································································.48
3.2.5 曝光量和光圈數(shù) ·······································································.48
3.2.6 鏡頭的光學分辨率 ····································································.49
3.2.7 鏡頭的選擇 ·············································································.50
3.3 光電成像器件 ···················································································.51
3.3.1 光電成像器件的發(fā)展 ·································································.51
3.3.2 CCD 圖像傳感器 ······································································.52
3.3.3 CMOS 圖像傳感器 ···································································.55
3.4 數(shù)字化設備 ······················································································.56
3.5 處理器 ····························································································.57
3.6 成像系統(tǒng)常用參數(shù)術語 ·······································································.58
3.7 成像系統(tǒng)分辨率的表示和影響因素 ························································.61
思考與練習 ····························································································.64
第4 章 數(shù)字圖像基礎 ···················································································.65
4.1 圖像的產(chǎn)生 ······················································································.66
4.2 數(shù)字圖像 ·························································································.66
4.2.1 圖像的數(shù)字化 ··········································································.66
4.2.2 數(shù)字圖像的表示 ·······································································.69
4.2.3 計算機中的圖像文件格式 ···························································.70
4.3 圖像分類 ·························································································.72
4.3.1 二值圖像 ················································································.73
4.3.2 灰度圖像 ················································································.73
4.3.3 RGB 圖像 ···············································································.73
4.3.4 索引圖像 ················································································.74
4.3.5 多幀圖像 ················································································.75
4.4 圖像文件的操作 ················································································.75
4.4.1 圖像文件的讀取 ·······································································.75
4.4.2 圖像文件的保存 ·······································································.76
4.4.3 圖像文件的顯示 ·······································································.78
4.5 圖像的統(tǒng)計特性 ················································································.79
4.5.1 灰度直方圖 ·············································································.79
4.5.2 聯(lián)合直方圖 ·············································································.80
4.5.3 熵和聯(lián)合熵 ·············································································.81
4.5.4 其他統(tǒng)計特征 ··········································································.82
4.6 圖像的代數(shù)運算 ················································································.83
4.6.1 圖像相加 ················································································.83
4.6.2 圖像相減 ················································································.85
4.6.3 圖像相乘 ················································································.86
4.6.4 圖像相除 ················································································.86
思考與練習 ····························································································.86
第5 章 圖像變換 ·························································································.88
5.1 圖像投影和拉東變換 ··········································································.89
5.1.1 二值圖像的投影 ·······································································.89
5.1.2 拉東變換 ················································································.90
5.2 傅里葉變換 ······················································································.91
5.2.1 傅里葉級數(shù) ·············································································.91
5.2.2 傅里葉變換的定義 ····································································.93
5.2.3 二維離散傅里葉變換的性質 ························································.96
5.3 極坐標變換 ······················································································.99
5.3.1 極坐標變換原理及應用 ······························································.99
5.3.2 傅里葉-極坐標變換 ··································································.101
5.4 霍夫變換 ························································································.102
5.4.1 霍夫變換用于直線檢測 ·····························································.103
5.4.2 霍夫變換用于圓形輪廓檢測 ·······················································.105
5.4.3 廣義霍夫變換 ·········································································.106
5.5 霍特林變換 ·····················································································.107
第6 章 圖像增強與復原 ···············································································.112
6.1 圖像質量評價 ··················································································.112
6.2 灰度變換 ························································································.114
6.2.1 線性灰度變換 ·········································································.114
6.2.2 非線性灰度變換 ······································································.116
6.3 直方圖均衡化 ··················································································.117
6.4 空域平滑 ························································································.120
6.4.1 均值濾波 ···············································································.120
6.4.2 中值濾波 ···············································································.122
6.4.3 邊緣保持濾波算法 ···································································.124
6.5 空域銳化 ························································································.125
6.6 頻域濾波 ························································································.126
6.6.1 頻域濾波基礎 ·········································································.126
6.6.2 低通濾波 ···············································································.128
6.6.3 高通濾波 ···············································································.130
6.6.4 帶阻濾波 ···············································································.132
6.6.5 同態(tài)濾波 ···············································································.133
6.7 彩色增強 ························································································.135
6.7.1 假彩色增強 ············································································.136
6.7.2 偽彩色增強 ············································································.136
6.7.3 彩色圖像增強 ·········································································.138
6.8 圖像復原 ························································································.140
6.8.1 圖像退化的原因 ······································································.140
6.8.2 圖像退化模型 ·········································································.140
6.8.3 噪聲模型 ···············································································.142
6.8.4 退化函數(shù)估計 ·········································································.143
6.8.5 逆濾波復原 ············································································.146
6.8.6 維納濾波 ···············································································.146
6.8.7 幾何失真圖像校正 ···································································.148
思考與練習 ···························································································.151
第7 章 圖像分割 ························································································.155
7.1 圖像分割的概念 ···············································································.156
7.2 邊緣檢測 ························································································.156
7.2.1 一階導數(shù)算子 ·········································································.157
7.2.2 二階導數(shù)算子 ·········································································.161
7.2.3 基于邊緣跟蹤的邊緣檢測方法 ····················································.163
7.3 閾值分割 ························································································.165
7.3.1 雙峰法 ··················································································.165
7.3.2 Otsu 算法 ··············································································.165
7.3.3 最大熵法 ···············································································.166
7.3.4 迭代閾值法 ············································································.166
7.4 區(qū)域分割 ························································································.167
7.4.1 區(qū)域生長法 ············································································.167
7.4.2 分水嶺分割法 ·········································································.168
7.5 數(shù)學形態(tài)學處理 ···············································································.170
7.5.1 基本的數(shù)學形態(tài)學運算 ·····························································.170
7.5.2 二值圖像的數(shù)學形態(tài)學處理 ·······················································.172
7.5.3 灰度圖像的數(shù)學形態(tài)學處理 ·······················································.177
7.6 運動目標分割 ··················································································.181
7.6.1 背景差值法 ············································································.181
7.6.2 幀間差分法 ············································································.182
7.6.3 三幀差分法 ············································································.183
思考與練習 ···························································································.184
第8 章 圖像特征分析 ··················································································.186
8.1 點特征的描述 ··················································································.187
8.1.1 Moravec 角點檢測算法 ·····························································.187
8.1.2 SUSAN 角點檢測算法 ······························································.188
8.1.3 Harris 角點檢測算法 ································································.190
8.2 紋理特征的描述 ···············································································.191
8.2.1 灰度差分統(tǒng)計 ·········································································.192
8.2.2 自相關函數(shù) ············································································.192
8.2.3 灰度共生矩陣 ·········································································.193
8.2.4 傅里葉變換法 ·········································································.195
8.2.5 Gabor 變換法 ··········································································.196
8.3 形狀特征的描述 ···············································································.199
8.3.1 輪廓表示方法 ·········································································.200
8.3.2 輪廓特征的描述 ······································································.202
8.3.3 區(qū)域特征的描述 ······································································.204
思考與練習 ···························································································.207
第9 章 攝像機標定 ·····················································································.209
9.1 空間幾何變換 ··················································································.210
9.1.1 簡單變換 ···············································································.210
9.1.2 剛體變換 ···············································································.211
9.1.3 仿射變換 ···············································································.212
9.1.4 射影變換 ···············································································.213
9.1.5 非線性變換 ············································································.214
9.2 視覺測量常用坐標系 ·········································································.214
9.3 攝像機成像模型 ···············································································.215
9.3.1 中心透視投影模型 ···································································.216
9.3.2 攝像機內參模型 ······································································.216
9.3.3 鏡頭畸變模型 ·········································································.217
9.3.4 攝像機外參模型 ······································································.219
9.4 攝像機標定法概述 ············································································.220
9.4.1 傳統(tǒng)標定法 ············································································.220
9.4.2 基于主動視覺的標定法和自標定法 ··············································.221
9.5 線性模型攝像機標定法 ······································································.221
9.6 Tsai 兩步標定法 ···············································································.224
9.7 基于平面靶標的非線性模型標定法 ·······················································.226
9.8 攝像機標定與二維視覺測量實驗 ··························································.230
9.8.1 攝像機標定步驟 ······································································.230
9.8.2 攝像機標定實驗結果 ································································.231
9.8.3 二維視覺測量實驗 ···································································.231
思考與練習 ···························································································.234
第10 章 雙目立體視覺測量 ···········································································.235
10.1 雙目立體視覺測量原理 ····································································.236
10.2 數(shù)學模型與三維重建 ·······································································.237
10.2.1 匯聚式光軸雙目立體視覺測量的數(shù)學模型 ···································.237
10.2.2 最小二乘法三維重建 ······························································.238
10.3 極線幾何與基本矩陣 ·······································································.239
10.3.1 極線幾何關系 ·······································································.239
10.3.2 極線約束方程與基本矩陣 ························································.240
10.3.3 攝像機的相對運動——本質矩陣 ···············································.242
10.3.4 從圖像對應點估計基本矩陣 ·····················································.242
10.4 雙目立體視覺系統(tǒng)標定 ····································································.243
10.5 極線校正 ······················································································.244
10.6 圖像配準與圖像匹配 ·······································································.246
10.6.1 圖像配準概述 ·······································································.247
10.6.2 基于模板（區(qū)域）的匹配算法 ··················································.249
10.6.3 基于頻域的匹配算法 ······························································.251
10.6.4 基于特征的匹配算法 ······························································.252
10.7 雙目立體視覺測量流程 ····································································.253
思考與練習 ···························································································.256
參考文獻 ·····································································································.257